A fingerprint data acquisition method, device, equipment and storage medium

Abstract

The application discloses a fingerprint data collection method, device and equipment and a storage medium. The method comprises the following steps: when a robot is at a target coordinate point, acquiring a wireless signal and a MAC address corresponding to the wireless signal through a collection device; converting the coordinates of the target coordinate point in the robot coordinate system to obtain the coordinates of the target coordinate point in an indoor coordinate system; and generating fingerprint data according to the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system. Through the technical scheme, the cost of fingerprint data collection can be reduced, and the efficiency and accuracy of fingerprint data collection can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of indoor positioning technology, and in particular to a fingerprint data collection method and device, equipment and storage medium. BACKGROUND

[0002] With the increasing size and richness of indoor shopping centers, people spend more and more time in shopping centers for leisure and entertainment. In a large indoor scene, it is difficult to distinguish the direction, and customers have the need for positioning and navigation. Indoor positioning system solutions using other signals in addition to GPS signals are increasingly adopted, such as Bluetooth, Lora, geomagnetic, and other near-field wireless positioning technologies.

[0003] The main principle of near-field wireless positioning technology is to collect wireless signal strength data at each coordinate position in the indoor space in advance, establish a wireless signal fingerprint library, and model the indoor two-dimensional space and wireless signal data. When positioning is calculated, the coordinates of a certain unknown point are back calculated according to the wireless signal.

[0004] From the principle of wireless positioning technology, it can be seen that the accuracy of the wireless signal fingerprint library has a direct impact on the final positioning accuracy. How to establish an accurate wireless signal fingerprint library in large-scale complex indoor scenes such as shopping centers has become the focus of research.

[0005] The traditional manual fingerprint collection scheme is for technicians to collect terminals by handheld devices, and to collect wireless signal fingerprint data by walking in shopping centers and taking points by visual inspection.

[0006] The traditional manual fingerprint collection scheme requires a large amount of manpower and time cost, and it is very difficult to accurately take points by walking and visual inspection. The collected visual inspection point coordinates often deviate from the actual coordinates, resulting in low data quality of the fingerprint library and poor positioning accuracy. SUMMARY

[0007] Embodiments of the present application provide a fingerprint data collection method, device, equipment and storage medium to reduce the cost of fingerprint data collection while improving the efficiency and accuracy of fingerprint data collection.

[0008] According to an aspect of the present application, there is provided a fingerprint data collection method, executed by a fingerprint collection system, the fingerprint collection system comprising a collection device and a robot, the robot being provided with a water tank, the fingerprint data collection method comprising: when the robot is at a target coordinate point, acquiring, by the collection device, a wireless signal and a MAC address corresponding to the wireless signal; converting a coordinate of the target coordinate point in a robot coordinate system to obtain a coordinate of the target coordinate point in an indoor coordinate system; and generating fingerprint data according to the wireless signal with the target MAC address and the coordinate of the target coordinate point in the indoor coordinate system.

[0009] According to another aspect of the present application, there is provided a fingerprint database creation device, comprising:

[0010] an acquisition module, configured to acquire, by the collection device, a wireless signal and a MAC address corresponding to the wireless signal when the robot is at a target coordinate point;

[0011] a conversion module, configured to convert a coordinate of the target coordinate point in a robot coordinate system to obtain a coordinate of the target coordinate point in an indoor coordinate system;

[0012] a fingerprint data generation module, configured to generate fingerprint data according to the wireless signal with the target MAC address and the coordinate of the target coordinate point in the indoor coordinate system.

[0013] According to another aspect of the present application, there is provided an electronic device, comprising:

[0014] at least one processor; and

[0015] a memory connected to the at least one processor in communication; wherein

[0016] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the fingerprint database creation method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, there is provided a computer readable storage medium, storing computer instructions for enabling a processor to execute the fingerprint database creation method according to any one of the embodiments of the present application.

[0018] The embodiment of the present application can obtain the wireless signal and the MAC address corresponding to the wireless signal through the acquisition device when the robot is at the target coordinate point, convert the coordinates of the target coordinate point in the robot coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system, and generate the fingerprint data according to the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system, so as to reduce the cost of fingerprint data acquisition and improve the efficiency and accuracy of fingerprint data acquisition.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0021] Figure 1 is a structural schematic diagram of a fingerprint collection system in the embodiment of the present application;

[0022] Figure 2 is a flow chart of a fingerprint data collection method in the embodiment of the present application;

[0023] Figure 3 is a structural schematic diagram of another fingerprint collection system in the embodiment of the present application;

[0024] Figure 4 is a structural schematic diagram of a fingerprint data collection device in the embodiment of the present application;

[0025] Figure 5 is a structural schematic diagram of an electronic device in the embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of the present application.

[0027] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] It can be understood that, before using the technical solutions disclosed by the embodiments of the present disclosure, the type of personal information involved in the present disclosure, the use range, the use scenario, etc. should be informed to the user and the authorization of the user should be obtained according to relevant laws and regulations.

[0029] Embodiment one

[0030] Figure 1 A structural schematic diagram of a fingerprint collection system provided by the embodiment of the present application is shown in Figure 1 The fingerprint collection system includes a collection device and a robot, and a water tank is arranged on the robot.

[0031] Since more than 78% of the human body is composed of water, a water tank with the same volume as the human body can simulate the shielding of the human body to the signal. By placing a water tank with a height and volume similar to the human body on the robot, and placing a collection device at a position about the height of the human chest in front of the water tank, a wireless signal shielding effect similar to the human body can be generated.

[0032] The embodiment of the present application can simulate the interference of human shielding to the signal when collecting fingerprints in actual scenes such as shopping centers by arranging a water tank simulating the human body on the robot, thereby improving the fingerprint collection accuracy.

[0033] Figure 2 A flowchart of a fingerprint data collection method provided by the embodiment of the present application, the embodiment can be applicable to the case of fingerprint data collection, and the method can be executed by the fingerprint data collection device in the embodiment of the present application, which can be realized in the form of software and / or hardware, as shown in Figure 2 The method specifically includes the following steps:

[0034] S110, when the robot is at the target coordinate point, acquiring a wireless signal and a MAC address corresponding to the wireless signal through the collection device.

[0035] The acquisition device is placed directly above the robot and directly in front of the water tank. The acquisition device is fixed at a preset distance from the water tank, and the installation height of the acquisition device is equal to the set height. For example, as shown in the figure, the acquisition device is placed directly above the robot and directly in front of the water tank by the device support. The horizontal distance between the acquisition device and the water tank is equal to the set distance, and the installation height of the acquisition device is equal to the set height. Figure 1 The acquisition device is placed directly above the robot and directly in front of the water tank. The acquisition device is fixed at a preset distance from the water tank, and the installation height of the acquisition device is equal to the set height. For example, as shown in the figure, the acquisition device is placed directly above the robot and directly in front of the water tank by the device support. The horizontal distance between the acquisition device and the water tank is equal to the set distance, and the installation height of the acquisition device is equal to the set height.

[0036] It should be noted that the way of acquiring the wireless signal and the MAC address corresponding to the wireless signal by the acquisition device can be that, in the process of controlling the robot to move indoors, the radar sensor arranged on the robot collects point cloud data in the process of moving the robot, and generates a radar map according to the collected point cloud data. A radar map display interface is generated according to the radar map. The acquisition device displays the radar map display interface. The user obtains a target coordinate point list by touching a position on the radar map display interface. A target path is generated according to the target coordinate point list. The robot is controlled to move to the target coordinate point according to the target path. When the robot is at the target coordinate point, the acquisition device acquires the wireless signal and the MAC address corresponding to the wireless signal.

[0037] S120, the coordinates of the target coordinate point in the robot coordinate system are converted to obtain the coordinates of the target coordinate point in the indoor coordinate system.

[0038] Specifically, the way of converting the coordinates of the target coordinate point in the robot coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system can be: obtaining the conversion relationship between the robot coordinate system and the indoor coordinate system, and converting the coordinates of the target coordinate point in the robot coordinate system according to the conversion relationship between the robot coordinate system and the indoor coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system.

[0039] S130, generating fingerprint data according to the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system.

[0040] The target MAC address is a MAC address preset in advance.

[0041] The coordinates of the target coordinate point in the indoor coordinate system are the coordinates of the target coordinate point where the wireless signal is collected, and the coordinates obtained after conversion to the indoor coordinate system.

[0042] Specifically, the way of generating the fingerprint data according to the wireless signal with the target MAC address as the MAC address and the coordinates of the target coordinate point in the indoor coordinate system can be: constructing a database in advance, the database storing at least one target MAC address, querying the database according to the MAC address of the collected wireless signal, if the database has the same MAC address as the MAC address of the collected wireless signal, generating the fingerprint data according to the collected wireless signal and the coordinates of the target coordinate point in the indoor coordinate system.

[0043] Optionally, when the robot is at the target coordinate point, the wireless signal and the MAC address corresponding to the wireless signal are acquired by the acquisition device, including:

[0044] acquiring a target coordinate point list and a current position coordinate of the robot;

[0045] generating a target path according to the target coordinate point list and the current position coordinate of the robot;

[0046] controlling the robot to move to a target coordinate point in the target coordinate point list according to the target path;

[0047] acquiring the wireless signal and the MAC address corresponding to the wireless signal by the acquisition device.

[0048] Optionally, the way of acquiring the current position coordinate of the robot can be: acquiring the current position coordinate of the robot by the positioning device.

[0049] Optionally, the way of generating the target path according to the target coordinate point list and the current position coordinate of the robot can be: generating a path of the robot moving to each target coordinate point according to the target coordinate point list and the current position coordinate of the robot, and generating the target path according to the path of the robot moving to each target coordinate point.

[0050] Specifically, the way of controlling the robot to move to the target coordinate point in the target coordinate point list according to the target path can be: the server generates a control instruction according to the target path, and sends the generated control instruction to the robot, so that the robot moves to the target coordinate point in the target coordinate point list. The way of controlling the robot to move to the target coordinate point in the target coordinate point list according to the target path can also be: the acquisition device generates a control instruction according to the target path, and sends the generated control instruction to the robot, so that the robot moves to the target coordinate point in the target coordinate point list. The way of controlling the robot to move to the target coordinate point in the target coordinate point list according to the target path can also be: the acquisition device generates the target path and displays the target path, and an operator operates the control on the acquisition device according to the target path, so as to control the robot to move to the target coordinate point in the target coordinate point list.

[0051] Optionally, a target coordinate point list is acquired, including:

[0052] The robot is controlled to move indoors;

[0053] Point cloud data collected by the robot during the movement indoors is acquired;

[0054] A radar map is generated according to the point cloud data, and a radar map display interface is generated according to the radar map;

[0055] In response to a touch operation on the radar map display interface, a target coordinate point list is acquired.

[0056] Specifically, the robot can be controlled to move indoors by a server or by a collection device, and the present application does not limit this.

[0057] Specifically, the point cloud data collected by the robot during the movement indoors is acquired, and the radar map is generated according to the point cloud data, and the radar map display interface is generated according to the radar map. The point cloud data can be collected by a sensor arranged on the robot during the movement of the robot. After the sensor collects the point cloud data, the point cloud data is sent to the controller of the robot, so that the controller of the robot generates the radar map according to the point cloud data, and sends the radar map to the collection device. The collection device generates the radar map display interface according to the radar map. The point cloud data collected by the robot during the movement indoors can also be acquired, and the radar map is generated according to the point cloud data, and the radar map display interface is generated according to the radar map. The point cloud data can be collected by a sensor arranged on the robot during the movement of the robot. After the sensor collects the point cloud data, the point cloud data is sent to the controller of the robot, and the controller of the robot sends the point cloud data to the server, so that the server generates the radar map according to the point cloud data, and generates the radar map display interface according to the radar map.

[0058] Specifically, in response to the touch operation on the radar map display interface, the target coordinate point list is acquired. The operator can click some positions on the radar map display interface as needed, and the collection device responds to the touch operation on some positions on the radar map display interface, acquires the coordinate points corresponding to the positions clicked by the user, and determines the coordinate points corresponding to the positions clicked by the user as target coordinate points to obtain the target coordinate point list. In response to the touch operation on the radar map display interface, the target coordinate point list can also be acquired. The operator can click some positions on the radar map display interface by a mouse as needed, and the client responds to the touch operation on some positions on the radar map display interface, acquires the coordinate points corresponding to the positions clicked by the user, and determines the coordinate points corresponding to the positions clicked by the user as target coordinate points to obtain the target coordinate point list.

[0059] Optionally, the coordinates of the target coordinate point in the robot coordinate system are converted to obtain the coordinates of the target coordinate point in the indoor coordinate system, comprising:

[0060] obtaining the coordinates of at least three coordinate points in the robot coordinate system and the indoor coordinate system;

[0061] determining the conversion relationship between the robot coordinate system and the indoor coordinate system according to the coordinates of the at least three coordinate points in the robot coordinate system and the indoor coordinate system;

[0062] converting the coordinates of the target coordinate point in the robot coordinate system according to the conversion relationship between the robot coordinate system and the indoor coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system.

[0063] In a specific example, the coordinates of coordinate point A in the robot coordinate system and the indoor coordinate system, the coordinates of coordinate point B in the robot coordinate system and the indoor coordinate system, and the coordinates of coordinate point C in the robot coordinate system and the indoor coordinate system are obtained; the coordinates of coordinate point A in the robot coordinate system and the indoor coordinate system, the coordinates of coordinate point B in the robot coordinate system and the indoor coordinate system, and the coordinates of coordinate point C in the robot coordinate system and the indoor coordinate system are substituted into the three-base-point coordinate system conversion formula to obtain the conversion relationship between the robot coordinate system and the indoor coordinate system.

[0064] Optionally, when the robot is at the target coordinate point, a wireless signal is obtained by the acquisition device, comprising:

[0065] When the robot is at the target coordinate point, the robot is controlled to rotate 360 degrees;

[0066] When the robot rotates a preset angle, the acquisition device obtains a wireless signal corresponding to the current rotation angle.

[0067] The preset angle can be 90 degrees or 45 degrees, and the embodiments of the present application do not limit this.

[0068] In a specific example, the operator holds the acquisition device, opens the robot motion control function of the control program in the acquisition device, the interface provides functions of controlling the robot to move forward, backward, turn left, turn right, stop, etc., the operator remotely controls the robot to walk in the room, the robot radar automatically scans obstacles, and indoor mapping of the robot can be quickly completed, that is, the establishment of the indoor planar robot radar map and the coordinate system is completed. The operator selects coordinate points needing to collect data on the robot radar map, and after completion, the target coordinate point list can be uploaded to the control program on the acquisition device, the acquisition device is placed on the support, and the automatic acquisition function on the program interface is clicked. The robot is controlled to automatically move to the target coordinate point preset by the operator, and is rotated by 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively, so that automatic collection of wireless signal data at different angles is completed, and a wireless signal fingerprint library based on the robot radar coordinate system is obtained.

[0069] The embodiment of the application solves the problem of adding shielding of human signals in the process of collecting fingerprints by simulating human shielding in different directions through a rotating multi-direction collection strategy.

[0070] Optionally, the fingerprint collection system further comprises a device support, the device support is used for fixing the acquisition device on the robot, and the horizontal distance between the acquisition device and the water tank is equal to the set distance, and the installation height of the acquisition device is equal to the set height.

[0071] As shown in Figure 1 The fingerprint collection system comprises a robot, the robot is provided with a water tank and a device support, the acquisition device can be prevented on the device support or taken away from the device support, for example, if it is needed to control the robot to move in the room through the acquisition device, so that the robot generates a radar map according to the point cloud data collected in the process of moving in the room, and the radar map is displayed through the acquisition device, the acquisition device needs to be taken away from the device support, the operator holds the acquisition device, and controls the robot to move in the room by clicking the control on the acquisition device (for example, the robot moves forward by clicking the forward control, the robot moves backward by clicking the backward control, the robot turns left by clicking the left turn control, and the robot turns right by clicking the right turn control).

[0072] The robot provided in the embodiment of the present application can be a walkable indoor robot. The robot can include multiple sensors such as a laser radar, an ultrasonic sensor, a fall sensor, a magnetic sensor, a depth camera, a collision sensor and the like. The robot has the functions of autonomous mapping, positioning and navigation in a complex and variable environment. The structure size of the robot is less than 500mm (length) x 500mm (width) x 500mm (height), the net weight is less than 30 kilograms, and the maximum load capacity should be greater than 5 kilograms. The mapping resolution of the robot is less than 10 centimeters, and the maximum mapping area is greater than 15000 square meters. The robot has a system switch, an emergency stop button, a brake release, a turn signal and the like. The software interface supports secondary development functions of Windows, iOS, Android and Linux. The moving speed is not greater than 1 meter / second, and the vertical ramp height is higher than 1 centimeter. The maximum detection distance of the laser radar is greater than 30 meters, the number of integrated ultrasonic sensors is not less than 3, the maximum detection distance is greater than 30 centimeters, the minimum detection distance of the fall sensor is not less than 5 centimeters, the detection distance of the depth camera is not less than 2 meters, the visual angle range is greater than 90 degrees, and the minimum triggering stress of mechanical collision is greater than 5 newtons. The endurance time is not less than 4 hours, the single full charge walking distance is not less than 5 kilometers, and the single full charge time is less than 3 hours. Other working environments such as working humidity and temperature can adapt to normal indoor weather.

[0073] The embodiment of the present application includes a plastic water tank simulating a human body, the size of the water tank is 500mm (length) x 100mm (width) x 1100mm (height), the inside is filled with water, and is installed on the top front side of the robot for simulating a human body.

[0074] The embodiment of the present application further includes a collection device and a detachable support installed on the robot. The support can be a rod with an inner diameter of 10mm, a height of not less than 1.2m, and is installed on the top of the robot and in front of the simulated human body water tank. The collection device has an Android 8.0 and above system installed, is used to run a control program, controls the robot to autonomously walk, collect wireless signals and the like, has a structure size of less than 300mm (length) x 200mm (width) x 50mm (height), a net weight of less than 2KG, a multi-point touch screen, a running memory of greater than 2GB, a body memory of greater than 32GB, supports 802.11a, b, g, n, ac protocols, supports WLAN direct connection function, supports WLAN hotspot function, and simultaneously supports 2.4G and 5G frequency band signal receiving function. At least supports BLE4.0 Bluetooth protocol, at least has a Wi-Fi sensor, a Bluetooth sensor, a gravity sensor, a magnetic sensor, an inertial sensor, and a battery capacity of at least 3000mAh.

[0075] It should be noted that the network communication interface of the robot is connected through WIFI or wired network to realize the control of the robot, for example: walking control, Bluetooth wireless signal acquisition and cloud communication functions. The cloud management service provides a unified API to the outside, realizing the unified access management, remote control, log upload and data storage of multiple robots.

[0076] In one specific example, the fingerprint acquisition system includes: a communication module, a radar map module, a walking control module, a data acquisition module, a cloud communication module and the like. Among them, the communication module mainly realizes the command control of the robot through the open secondary development interface of the robot, and the main commands include establishing connection with the robot, obtaining the current state of the robot, loading the radar map of the robot, controlling the robot to advance at a fixed angle, controlling the robot to advance at a target coordinate point, stopping and the like. The radar map module is used to display the robot map on the control program interface, facilitating the operator to control the robot to complete the mapping operation. The radar map module mainly calls the communication module to load the current map of the robot, and displays the wall and other obstacle point cloud scanned in real time by the radar. The walking control module provides the robot walking control function on the control program interface, facilitating the operator to manually control the robot to walk and complete the mapping work of the robot in the early stage. The data acquisition module provides acquisition configuration information loading, such as coordinate point path, Bluetooth Mac filtering rule and the like, and automatic acquisition of Bluetooth signal data. The cloud communication module interacts with the cloud by using MQTT, HTTP and the like, mainly completing online registration, real-time synchronization of robot state, motion control command issuing, video uploading, acquisition result uploading, log information uploading and the like.

[0077] The fingerprint collection system further comprises an MQTT access module, a robot management module, a state display module, a command issuing module, and a log display module. The MQTT access module is used for real-time data transmission of the robot. Each robot is connected to the cloud service through the MQTT protocol and performs data transmission communication with the cloud through a fixed rule topic. For example, a robot with an ID of robot_id_1 communicates with the cloud through a topic of robot / robot_id_1 / battery. The cloud can analyze the data by subscribing to the rule. The robot management module is used for management of multiple robot instances. The cloud maintains all robot instances and provides an HTTP access service for adding, deleting, searching, and modifying robot instance data. The state display module is used for real-time collection and display of the state of the robot. The cloud system can update the values in real time and display them on a Web page by subscribing to the data reported by the robot through the MQTT protocol. The command issuing module is used for issuing commands such as movement, configuration of a collection path, and starting of automatic collection to the robot remotely through the cloud service, so that an operator can remotely control the robot to complete a collection task through the cloud service. One operator can remotely operate multiple robots simultaneously. The log display module is used for real-time viewing of the running log of the robot, which facilitates an operator to quickly locate problems when the robot or program fails.

[0078] Optionally, the fingerprint collection system further comprises a fixing device arranged on the water tank and used for fixing the collection device at a position with a preset distance from the water tank and an installation height of the collection device equal to a set height.

[0079] As shown in Figure 3 , the water tank is arranged on the robot, the fixing device is fixed at a preset height of the water tank, and the collection device is placed on the fixing device. The horizontal distance between the placement position of the collection device and the water tank is equal to the preset distance.

[0080] The technical scheme of the embodiment can obtain a wireless signal and a MAC address corresponding to the wireless signal when the robot is at a target coordinate point, convert the coordinates of the target coordinate point in the robot coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system, and generate fingerprint data according to the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system. The efficiency and accuracy of fingerprint data collection can be improved while reducing the cost of fingerprint data collection.

[0081] Embodiment Two

[0082] Figure 4A structural schematic diagram of a fingerprint data acquisition device provided by an embodiment of the present application is shown. The embodiment can be applied to the case of fingerprint data acquisition. The device can be implemented in the form of software and / or hardware. The device can be integrated into any device that provides the function of fingerprint data acquisition, such as a mobile phone, a tablet computer, a personal computer, a server, a wearable device, and the like. Figure 4 As shown in the figure, the fingerprint data acquisition device specifically includes an acquisition module 210, a conversion module 220, and a fingerprint data generation module 230.

[0083] The acquisition module is configured to acquire a wireless signal and a MAC address corresponding to the wireless signal through an acquisition device when the robot is at a target coordinate point.

[0084] The conversion module is configured to convert the coordinates of the target coordinate point in the robot coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system.

[0085] The fingerprint data generation module is configured to generate fingerprint data according to the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system.

[0086] The product can execute the method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0087] Embodiment three

[0088] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0089] As Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0091] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the fingerprint data acquisition method.

[0092] In some embodiments, the fingerprint data acquisition method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the fingerprint data acquisition method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the fingerprint data acquisition method by any other appropriate means, such as by means of firmware.

[0093] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0094] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0095] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0096] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0097] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0098] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0099] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0100] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A method of collecting fingerprint data, characterized by, A fingerprint collection method is executed by a fingerprint collection system, the fingerprint collection system comprising a collection device and a robot, a water tank is arranged on the robot, the water tank is used to simulate a human body, the horizontal distance between the collection device and the water tank is equal to a set distance, and the installation height of the collection device is equal to a set height, the fingerprint data collection method comprising: In the process of controlling the robot to move in the room, point cloud data is collected in the process of moving the robot by a radar sensor arranged on the robot, a radar map is generated according to the collected point cloud data, a radar map display interface is generated according to the radar map, the collection device displays the radar map display interface, and a user obtains a target coordinate point list by touching a position on the radar map display interface, wherein the target coordinate point list comprises at least one target coordinate point. When the robot is at the target coordinate point, a wireless signal and a MAC address corresponding to the wireless signal are obtained by the collection device. The coordinates of the target coordinate point in the robot coordinate system are converted to obtain the coordinates of the target coordinate point in the indoor coordinate system. Fingerprint data is generated according to the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system.

2. The method of claim 1, wherein, When the robot is at the target coordinate point, a wireless signal and a MAC address corresponding to the wireless signal are obtained by the collection device, comprising: A target coordinate point list and a current position coordinate of the robot are obtained. A target path is generated according to the target coordinate point list and the current position coordinate of the robot. The robot is controlled to move to a target coordinate point in the target coordinate point list according to the target path. A wireless signal and a MAC address corresponding to the wireless signal are obtained by the collection device.

3. The method of claim 1, wherein, The coordinates of the target coordinate point in the robot coordinate system are converted to obtain the coordinates of the target coordinate point in the indoor coordinate system, comprising: The coordinates of at least three coordinate points in the robot coordinate system and in the indoor coordinate system are obtained. A conversion relationship between the robot coordinate system and the indoor coordinate system is determined according to the coordinates of the at least three coordinate points in the robot coordinate system and in the indoor coordinate system. The coordinates of the target coordinate point in the robot coordinate system are converted according to the conversion relationship between the robot coordinate system and the indoor coordinate system to obtain the coordinates of the target coordinate point in the indoor coordinate system.

4. The method of claim 1, wherein, When the robot is at the target coordinate point, a wireless signal is obtained by the collection device, comprising: When the robot is at the target coordinate point, the robot is controlled to rotate 360 degrees. When the robot rotates by a preset angle, a wireless signal corresponding to the current rotation angle is obtained by the collection device.

5. The method of claim 1, wherein, The fingerprint collection system further comprises a device support, the device support is used to fix the collection device on the robot, and the horizontal distance between the collection device and the water tank is equal to the set distance, and the installation height of the collection device is equal to the set height.

6. The method of claim 1, wherein, The fingerprint collection system further comprises a fixing device, the fixing device is arranged on the water tank and is used to fix the collection device at a position with a set distance from the water tank and with the installation height of the collection device equal to the set height.

7. A fingerprint data acquisition device, characterized by The fingerprint data acquisition device is configured in a fingerprint acquisition system, and the fingerprint acquisition system further comprises an acquisition device and a robot, a water tank is arranged on the robot, the water tank is used for simulating a human body, a horizontal distance between the acquisition device and the water tank is equal to a set distance, and an installation height of the acquisition device is equal to a set height, and the fingerprint data acquisition device comprises: An acquisition module is configured to acquire point cloud data during movement of the robot in the indoor environment by a radar sensor arranged on the robot, generate a radar map based on the acquired point cloud data, generate a radar map display interface based on the radar map, and display the radar map display interface by the acquisition device, and obtain a target coordinate point list by touching a position on the radar map display interface by a user, wherein the target coordinate point list comprises at least one target coordinate point; and acquire a wireless signal and a MAC address corresponding to the wireless signal by the acquisition device when the robot is at the target coordinate point. A conversion module is configured to convert coordinates of the target coordinate point in the robot coordinate system to obtain coordinates of the target coordinate point in the indoor coordinate system. A fingerprint data generation module is configured to generate fingerprint data based on the wireless signal with the target MAC address and the coordinates of the target coordinate point in the indoor coordinate system.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the fingerprint data acquisition method in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to execute the fingerprint data acquisition method in any one of claims 1-6 when executed.

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